CN103211670A - Assistant exoskeleton ankle joint joining device - Google Patents

Assistant exoskeleton ankle joint joining device Download PDF

Info

Publication number
CN103211670A
CN103211670A CN 201310126254 CN201310126254A CN103211670A CN 103211670 A CN103211670 A CN 103211670A CN 201310126254 CN201310126254 CN 201310126254 CN 201310126254 A CN201310126254 A CN 201310126254A CN 103211670 A CN103211670 A CN 103211670A
Authority
CN
Grant status
Application
Patent type
Prior art keywords
joint
exoskeleton
ankle
crus
connected
Prior art date
Application number
CN 201310126254
Other languages
Chinese (zh)
Other versions
CN103211670B (en )
Inventor
刘放
程文明
周宏�
张则强
朱家元
吴晓
Original Assignee
西南交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

Links

Abstract

The invention discloses an assistant exoskeleton ankle joint joining device which is applied to the ankle joint joining between an exoskeleton crus and a sensing shoe. The lower end of a crus (11), a taper sleeve (7), a joint bearing (9) with three rotational freedom degrees and a vertical shaft (2) are connected in series through a lateral hinge pin (1), so that the lower end of the crus is connected with the joint bearing and the vertical shaft, and an exoskeleton can be used for stimulating the three rotational freedom degrees of a human ankle joint. Shock-reducing rubber and reset rubber are arranged at the same time so as to realize buffering and energy absorbing functions, and an additional elastic reset force can be provided for rotating the exoskeleton ankle joint, so that man-machine stability is increased; and the crus is connected through a hinge pin, and the sensing shoe is connected through a bolt, so load transfer can be smoothly realized.

Description

一种助力型外骨骼用踝关节联结装置 Exoskeleton is a booster-type coupling device ankle

技术领域 FIELD

[0001] 本发明涉及机械人结构,尤其涉及一种用于助力型外骨骼的实现小腿和传感靴稳定连接,在保证关节处三个旋转自由度的同时且能可靠承载的踝关节联结装置。 [0001] The present invention relates to a robot, and particularly to realize a sensing leg and shoe type exoskeleton is a booster for a stable connection, guaranteed in the ankle joint while the three rotational degrees of freedom capable of reliably carrying coupling means .

背景技术 Background technique

[0002] 在外骨骼的研究领域中,人体与外骨骼之间的协调运动是研究的重点之一。 Field of study [0002] exoskeleton, a coordinated movement between the body and the exoskeleton is one focus of the study. 依据人体骨骼和关节结构的构成,为实现人机间的运动一致,外骨骼必须模拟人体结构设置相应的骨骼,而且关节结构应与人体一致,包含有髋关节、膝关节和踝关节。 Constitute the basis of human bone and joint structure, to achieve consistency between human movement, we must simulate the human body exoskeleton structure set the corresponding bones, and joints should be consistent with the structure of the human body, includes the hip, knee and ankle joints. 踝关节是外骨骼传递载荷的关键环节,不仅要传递载荷,而且运动自由度应与人体一致,需要有三个旋转自由度。 Ankle exoskeleton is the key to transmit the load, not only to transfer loads, and freedom of movement should be consistent with the human body, you need to have three rotational degrees of freedom.

[0003] 对于人机携行系统中的外骨骼结构而言,其主要功能在代替人体承受垂向载荷,因此外骨骼和人体之间必须通过连接装置紧紧连接在一起。 [0003] The exoskeleton structure for the man-machine-portable system, whose primary function in the human body to withstand the vertical load in place, and therefore must be connected together tightly between the exoskeleton and the human body by connecting means. 这样在人机携行期间,负重随人体运动的速度和加速度会造成振动和冲击现象。 During this human-portable, weight-bearing human motion with the speed and acceleration can cause vibration and impact of the phenomenon. 当人机携行行走时,在支撑相和摆动相的周期运动中,人机质心有一个上下起伏的运动特征,在起或沉的阶段,负重都会由加速度引起动载荷,并随人机质心曲线反复作用于外骨骼,随着行走速度的增加,步频的加快和步幅的增大,此动载荷作用周期的频率也会增加,幅值会变大,造成对外骨骼的振动冲击。 When the display Carried walking, the support phase and the periodic motion of the swing phase, the human centroid sports wherein a heaving, in a starting or sink stage, the load will by the acceleration due to dynamic load, and with the man-machine centroid curve exoskeleton repeatedly applied, with the increase in walking speed, pitch and speed up the pace of increase in the frequency of this dynamic loading cycles will increase, the amplitude becomes large, resulting in vibration of the impact exoskeleton.

[0004] 通过对外骨骼可能受到的振动和冲击作用的分析,以及对人机间协调性的影响,要求外骨骼的小腿和传感靴之间的联结装置的设计既要能满足承载要求,又要能实现踝关节的三个运动自由度,满足人机运动协调性的要求;同时外骨骼踝关节处空间狭窄,很难在此处设置动力装置,因此在踝关节的结构设计中必须设置弹性复位装置。 [0004] The vibration and shock effect exoskeleton may be subjected to analysis, and the impact on the human-machine coordination, to design the exoskeleton coupling means between both legs and the sensing piece to meet the load requirements, and to achieve three degrees of motion of the ankle joint, to meet the requirements of the man-machine movement coordination; while the outer ankle bone narrow space difficult to set here means the power, flexibility must be provided in the structural design of the ankle joint reset means.

[0005] 在目前的外骨骼机械结构的研究中,重点集中在整体结构的设计和强度、刚度分析,而往往忽略了关节自由度的设置和约束,特别是踝关节的自由度的设计、被动复位装置的设置和隔震装置的设计。 [0005] In the current study mechanical exoskeleton structure, focused on design and strength of the overall structure, stiffness analysis, but often overlooked settings and constraints joint degrees of freedom, especially freedom of design of the ankle joint, passive and resetting means is provided designed isolation means. 从公布的研究成果来看,踝关节通常被设计为只有一个人体矢状面内的旋转自由度,没有额状面和横断面内的自由度,导致人体穿戴外骨骼后不能实现侧身、转腰等动作;而且在崎岖的路面运动时,踝关节在额状面内的受力很集中,导致关节销轴局部应力很大;同时也没有考虑人机运动过程中的隔震和弹性复位等装置。 From the research results published point of view, the ankle is generally designed to have only one rotational degree of freedom in the sagittal plane of the body, there is no freedom in the frontal plane and the cross-section, resulting in the human body can not be achieved exoskeleton worn sideways, waist other action; rough terrain but also in motion, the force of the ankle joint in the frontal plane is focused, resulting in a large local stress joint pin; nor consider the movement of the display unit during the isolation and the elastic reset means .

发明内容 SUMMARY

[0006] 鉴于现有技术的以上不足,本发明的目的是提供一种新的用于助力型外骨骼的踝关节联结装置,通过在联结装置中设置关节轴承实现关节的三个旋转自由度,保证人机之间的运动协调和可靠承载;在联结装置中设置隔震橡胶降低负重在人机运动期间对外骨骼造成的冲击载荷,实现缓冲吸能作用;同时在装置中设置复位橡胶,使得小腿与传感靴之间发生相对转动时,能为外骨骼提供额外的弹性复位力,可以增强负重的稳定性,利于人机重心的平衡,提高人机运动的协调性。 [0006] In view of the foregoing disadvantages of the prior art, an object of the present invention is to provide a new type ankle exoskeleton for power coupling device, to achieve three rotational degrees of freedom provided by the joint bearing joint in the coupling device, motor coordination between man and machine, and reliable carrier; provided isolation rubber exoskeleton reduce the impact load caused during the movement of the display unit in the load coupling device, to achieve energy-absorbing buffer action; simultaneously provided in the device resetting rubber, and such that the lower leg when relative rotation occurs between the sensing shoe, provides additional elastic restoring force exoskeleton, can enhance the stability of the load, which will help balance the center of gravity of the display unit, the display unit to improve the coordination of movement.

[0007] 本发明所采用的技术方案是: [0007] The technical proposal of the present invention is:

[0008] 一种助力型外骨骼用踝关节联结装置,实现外骨骼小腿与传感靴的连接,横向销轴I将小腿11下端、锥套7、具有三个旋转自由度的关节轴承9和立轴2串连实现小腿下端与关节轴承和立轴连接;关节轴承置于立轴2上端的通孔内,关节轴承旋转中心为外骨骼踝关节的原点;在立轴外沿和小腿下端的内腔之间设置有当关节转动时橡胶被压缩产生弹性复位力的复位橡胶3 ;在立轴2和支撑座5之间设置隔震橡胶4 ;支撑座5的内部为空腔结构,上端具有通孔,立轴2下端的外螺纹柱穿过该通孔后由防松螺母10将立轴、隔震橡胶和支撑座实现连接。 [0008] A booster type exoskeleton with ankle hitch, implement connection sensing the exoskeleton leg and shoe, I transverse pin 11 the lower end of the leg, the cone sleeve 7, having three rotational degrees of freedom and the articulated bearing 9 vertical shaft 2 is connected in series to achieve lower leg kingpin bearings and joints; joint bearing disposed in the upper end of the through hole vertical shaft 2, the rotation center joint bearing ankle exoskeleton origin; in a vertical axis between the lumen and the outer edge of the lower leg when the reset is provided with the rubber is compressed when the joint rotation of the rubber elastic restoring force of 3; 2 between the vertical shaft and the support base 5 is provided rubber bearings 4; 5 of the inner support base cavity structure, the upper end having a through hole, a vertical axis 2 after the lower end of the column through which the externally threaded through hole 10 by a locknut vertical shaft, rubber bearings, and the support base connected.

[0009] 采用本发明的结构,通过螺栓将装置中的支撑座与传感靴进行连接,通过横向销轴实现立轴与小腿下端的连接;将关节轴承置于立轴上端的通孔内,作为踝关节转动原点,实现三个旋转自由度,通过孔用挡圈实现轴承的轴向定位,通过锥套限制立轴相对于小腿的轴向位移,通过锁紧螺母使得立轴和支撑座可靠连接;在立轴和支撑座之间设置隔震橡胶,起到减震的作用;在立轴外圆和小腿下端的内腔之间设置复位橡胶,为踝关节提供弹性复位力;外骨骼垂向载荷通过小腿下端一横向销轴一关节轴承一立轴一减震橡胶一支撑座—传感靴的顺序向下传递,最终传递至地面。 [0009] The structure of the present invention, the apparatus support base for sensing shoe by bolting, to achieve the vertical shaft is connected to the lower leg by a transverse pin; articular bearing through-hole is placed an upper end of a vertical shaft, as the ankle articular origin of rotation, to achieve three degrees of rotational freedom, to achieve axial positioning of the bearing ring with a through hole, by the drogue limiting axial displacement of the kingpin with respect to the leg, such that the vertical shaft by a lock nut and a support base reliable connection; in a vertical axis and isolation is provided between the support base rubber, damping functions; lumen between the outer and lower leg kingpin settings reset rubber, providing an elastic restoring force to the ankle joint; exoskeleton vertical load through a lower leg a transverse pin joint bearing a vertical axis a support base a damper rubber - sensing shoe is passed down sequence, ultimately transferred to the ground. 本发明踝关节联结装置在实现外骨骼踝关节的三个旋转自由度的同时,保证了人机之间的运动协调,并能降低负重在人机运动期间对外骨骼造成的冲击载荷,且可为在踝关节自身的转动中提供弹性复位力,增强负重的稳定性,利于人机重心的平衡。 Ankle coupling device of the present invention while the three rotational degrees of freedom to achieve exoskeleton ankle to ensure that the movement coordination between man and machine, and can reduce the impact load caused during the man-machine exoskeleton motion loads, and may be providing ankle rotation in its own elastic restoring force, enhance the stability of the load, the center of gravity of the display unit facilitates balancing.

附图说明 BRIEF DESCRIPTION

[0010] 图1是外骨骼的踝关节联结装置的主视图。 [0010] FIG. 1 is a front view of a coupling device ankle exoskeleton.

[0011] 图2为图1的AA剖视图。 [0011] FIG. 2 is a cross-sectional view AA of FIG. 1.

具体实施方式 detailed description

[0012] 结合图1和图2示出,本发明的一种实施例为: [0012] FIG. 1 and FIG. 2 shows a embodiment of the present invention is:

[0013] 在外骨骼小腿和传感靴之间设置的踝关节联结装置主要由下列零件构成:横向销轴1、立轴2、复位橡胶3、隔震橡胶4、支撑座5、孔用挡圈6、锥套7、轴用挡圈8、关节轴承9、锁紧螺母10。 [0013] ankle bone coupling means disposed between the outer leg and shoe sensing is mainly composed of the following parts: a transverse pin 1, a vertical shaft 2, 3 return rubber, rubber bearings 4, the support base 5, with a ring hole 6 cone sleeve 7, shaft ring 8, 9 bearing joints, the lock nut 10. 支撑座内部为空腔结构,下端面的凸台内部为内螺纹,用于实现与传感靴的连接;隔震橡胶位于支撑座顶端的沉孔内,依次往上为立轴和复位橡胶,立轴下端为外螺纹柱,伸入支撑座的内腔,通过锁紧螺母与支撑座可靠连接;立轴上端设有一通孔,用于安装关节轴承,通过关节轴承实现踝关节的三个旋转自由度,关节轴承外圈最外圆两端面各设置一个孔用挡圈,限制关节轴承在孔内的轴向位移,关节轴承内圈两端面各设置一只锥套,限制小腿相对于立轴的轴向位移;通过横向销轴将小腿下端与关节轴承和立轴实现连接,横向销轴末端设置轴用挡圈,实现销轴的轴向定位;外骨骼垂向载荷沿着小腿下端一横向销轴一关节轴承一立轴一减震橡胶一支撑座一传感靴的顺序向下传递,最终传递至地面。 A support base for the inner cavity structure, the inner end surface of the boss is internally threaded for connection to realize a sensing shoe; rubber bearings on the seat top support counterbore, sequentially upward vertical shaft and the return rubber, a vertical axis an outer lower threaded post extending into the lumen of the support base, reliable connection with the support base by a lock nut; upper vertical shaft is provided with a through hole, for mounting the bearings, three rotational degrees of freedom achieved by the ankle joint bearing, a hole is provided in each joint end faces of the outermost circle bearing outer race retainer ring, to limit axial displacement in a bearing bore of a joint, the joint end faces of each bearing inner ring is provided a drogue, with respect to the lower leg to limit axial displacement of the vertical shaft ; the lower leg is achieved by a transverse pin connected to the articulated bearing and the vertical shaft, the end of the transverse pin shaft ring is provided, to achieve the axial positioning pin; exoskeleton vertical load along a lower leg articulated bearing a transverse pin a vertical shaft supporting a sequence of a seat damper rubber boots passed down a sensor, eventually transmitted to the ground.

[0014] 安装时首先将隔震橡胶4置入支撑座5顶端面的沉孔内,再依次装入立轴2和复位橡胶3,立轴下端为外螺纹柱,伸入支撑座的内腔,通过锁紧螺母9与支撑座可靠连接;立轴上端设有一通孔,将关节轴承9置于通孔内。 [0014] First, the rubber bearings during the mounting support 4 into the seat 5 to the top surface of the counter bore, then successively charged with a vertical axis 2 and 3 return rubber, the lower end of the vertical shaft outer threaded post extending into the lumen of the support base by nuts, reliable connection to the support base; upper vertical shaft is provided with a through hole, the through hole articulated bearing 9 is placed.

[0015] 本发明踝关节联结装置的工作过程: [0015] The present invention ankle during operation the coupling device:

[0016] 结合图1可以看到,在踝关节联结装置中实现与小腿连接的是横向销轴1,通过横向销轴将小腿下端、锥套7、关节轴承9和立轴2串连在一根轴上,使得载荷能够向下传递;在立轴与横向销轴之间设置有关节轴承9,轴承位于立轴2上端的通孔内,通过孔用挡圈6进行轴向固定,关节轴承可实现三个旋转自由度,轴承旋转中心就是外骨骼踝关节的原点;为了能在踝关节的转动过程中为关节的复位提供支撑力,在立轴外圆和小腿下端的内腔之间设置复位橡胶3,当关节转动时橡胶被压缩产生弹性复位力,可依靠此力实现关节的复位;在立轴和支撑座之间设置隔震橡胶4,隔震橡胶的外缘与小腿下端的内腔面为过盈配合;支撑座5的内部为空腔结构,立轴下端为外螺纹柱,通过防松螺母将立轴、隔震橡胶和支撑座进行可靠连接;支撑座下端面设有四个小凸台, [0016] can be seen in connection with Figure 1, is achieved with a transverse pin connected to the leg 1 at the ankle joint coupling means, the lower leg by a transverse pin, the cone sleeve 7, and the vertical axis articulated bearing 9 in a series 2 axis, so that the load can be transmitted down; between the kingpin and the pin disposed transversely articulated bearing 9, the bearing 2 is located in the upper end of the vertical shaft through hole, a through hole 6 with a ring axially fixed, three plain bearings can be achieved rotational degrees of freedom, that is, the rotational center bearing ankle exoskeleton origin; in order to reset the articulation of the ankle during rotation supporting force provided between the outer lumen and kingpin lower leg 3 is provided to reset the rubber, when the joint rotates is compressed rubber elastic restoring force, the force can depend on the resetting of the joint; rubber bearings disposed between the vertical shaft and the support base 4, the outer edge of the inner cavity surface of the lower leg in an interference isolation rubber complex; inner support base 5 is a cavity structure, the lower end of the vertical shaft outer threaded post, the vertical shaft, rubber bearings, and the support base are connected by a reliable locknut; small end face is provided with four lower support bosses, 台内部为内螺纹孔,通过螺栓可将支撑座与传感靴可靠连接。 An internal threaded hole for the table, the support base can reliably sensing shoe bolted.

[0017] 通过这种在助力型外骨骼的小腿和传感靴之间设置踝关节联结装置的方式,可以实现外骨骼对于人体踝关节三个旋转自由度的模拟,达到人机运动协调的目的;减震橡胶的设置可降低负重在人机运动期间对外骨骼造成的冲击载荷,实现缓冲吸能作用;同时设置复位橡胶,使得小腿与传感靴之间发生相对转动时,能为外骨骼提供额外的弹性复位力,可以增强负重的稳定性,利于人机重心的平衡,提高人机运动的协调性;通过踝关节联结装置可将小腿和传感靴可靠地进行连接,并能在满足运动约束的条件下,实现载荷顺利地传递。 [0017] By this arrangement the coupling means of the ankle joint between the booster-type sensor and the exoskeleton leg boots, exoskeleton three rotational degrees of freedom to simulate human ankle joint can be achieved, to achieve the purpose of coordinated movement of the display unit ; set damping rubber impact load can be reduced during the exoskeleton caused by movement of the display unit load, to achieve energy-absorbing buffer action; rubber also set reset, so that relative rotation between the boot leg and the sensor, to provide for the exoskeleton additional elastic return force, can enhance the stability of the load, the center of gravity of the display unit facilitates balance, improve the coordination of the movement of the display unit; and the sensing device may boot leg securely connected by links ankle, and can meet the motion RESTRICTIVE achieve smooth load transfer.

Claims (4)

  1. 1.一种助力型外骨骼用踝关节联结装置,实现外骨骼小腿与传感靴的连接,其特征在于,横向销轴(I)将小腿(11)下端、锥套(7 )、具有三个旋转自由度的关节轴承(9 )和立轴(2)串连实现小腿下端与关节轴承和立轴连接;关节轴承置于立轴(2)上端的通孔内,关节轴承旋转中心为外骨骼踝关节的原点;在立轴外沿和小腿下端的内腔之间设置有当关节转动时橡胶被压缩产生弹性复位力的复位橡胶(3);在立轴(2)和支撑座(5)之间设置隔震橡胶(4);支撑座(5)的内部为空腔结构,上端具有通孔,立轴(2)下端的外螺纹柱穿过该通孔后由防松螺母(10)将立轴、隔震橡胶和支撑座实现连接。 A booster type exoskeleton, characterized in that a sensor connected to the exoskeleton leg and ankle boots coupling means to achieve transverse pin (I) the leg (11) lower end, the taper sleeve (7), having three rotational degrees of freedom of the joint bearing (9) and the vertical shaft (2) connected in series to achieve lower leg kingpin bearings and joints; joint bearing disposed vertical axis (2) of the upper end of the through-hole, the rotation center joint bearing outer ankle bones origin; lumen between the outer edge of the vertical shaft and is provided with lower leg when the reset rubber (3) is compressed when the joint rotation of the rubber elastic restoring force; spacer disposed between the vertical shaft (2) and the support base (5) shock rubber (4); internal support base (5) of the cavity structure, the upper end having a through hole, a vertical shaft (2) an externally threaded lower end of the column after passing through the through-hole by a locknut (10) the vertical shaft, isolated and the rubber support seat connected.
  2. 2.根据权利要求1所述的助力型外骨骼用踝关节联结装置,其特征在于,轴承最外沿两端面各设置一个孔用挡圈(6),实现关节轴承在立轴上端通孔内的左右横移自由度约束;轴承内沿两端面各设置一只锥套(7),通过横向销轴(I)将小腿下端与关节轴承和立轴实现连接,横向销轴I末端设置有轴用挡圈(8),实现销轴的轴向定位。 The exoskeleton type booster according to claim 1 with the ankle joint coupling means, characterized in that the outermost edge of the bearing surface of each of both end ring is provided with a hole (6), realized in the upper end of the through-hole joint bearing vertical shaft left and right traverse DOF constraints; both end surfaces of the inner bearing disposed along a drogue (7), the lower leg is connected to the joint bearing and achieve vertical shaft by a transverse pin (I), a transverse pin is provided with a shaft end I stopper ring (8), to achieve the axial positioning pin.
  3. 3.根据权利要求1所述的助力型外骨骼用踝关节联结装置,其特征在于,所述隔震橡胶的外缘与小腿下端的内腔面为过盈配合。 The exoskeleton type booster according to claim 1 with the ankle joint coupling means, wherein the isolation lumen and an outer edge surface of the lower leg is interference fit rubber.
  4. 4.根据权利要求1所述的助力型外骨骼用踝关节联结装置,其特征在于,所述支撑座5的下端面设置有四个小凸台,凸台内部为内螺纹孔,通过螺栓可将支撑座与传感靴可靠连接。 The exoskeleton type booster according to claim 1 with the ankle joint coupling means, characterized in that the lower end face of the support base 5 is provided with four small bosses, the bosses of the internal threaded hole, through bolt the support base is connected to the sensor shoe reliably.
CN 201310126254 2013-04-12 2013-04-12 Assistant exoskeleton ankle joint joining device CN103211670B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201310126254 CN103211670B (en) 2013-04-12 2013-04-12 Assistant exoskeleton ankle joint joining device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201310126254 CN103211670B (en) 2013-04-12 2013-04-12 Assistant exoskeleton ankle joint joining device

Publications (2)

Publication Number Publication Date
CN103211670A true true CN103211670A (en) 2013-07-24
CN103211670B CN103211670B (en) 2015-01-28

Family

ID=48810071

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201310126254 CN103211670B (en) 2013-04-12 2013-04-12 Assistant exoskeleton ankle joint joining device

Country Status (1)

Country Link
CN (1) CN103211670B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101234045A (en) * 2008-02-28 2008-08-06 上海交通大学 Parallel type multi-freedom artificial limb exoskeleton ankle joint
CN101518472A (en) * 2009-03-24 2009-09-02 中国人民解放军海军航空工程学院 Intelligent exoskeleton carrying system for lower limb and control method thereof
CN201422989Y (en) * 2009-06-29 2010-03-17 浙江大学 Exoskeleton with three degree of freedom for auxiliary ankle joint exercises
US20100114329A1 (en) * 2005-03-31 2010-05-06 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US20110040216A1 (en) * 2005-03-31 2011-02-17 Massachusetts Institute Of Technology Exoskeletons for running and walking
CN102793595A (en) * 2012-09-03 2012-11-28 浙江大学 Wearable heavy material handling power-assisting bionic exoskeleton
CN102940542A (en) * 2012-10-23 2013-02-27 华中科技大学 Artificial limb ankle joint with four passive degrees of freedom
CN203183091U (en) * 2013-04-12 2013-09-11 西南交通大学 Assistance type ankle joint coupling device for external skeleton

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100114329A1 (en) * 2005-03-31 2010-05-06 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US20110040216A1 (en) * 2005-03-31 2011-02-17 Massachusetts Institute Of Technology Exoskeletons for running and walking
CN101234045A (en) * 2008-02-28 2008-08-06 上海交通大学 Parallel type multi-freedom artificial limb exoskeleton ankle joint
CN101518472A (en) * 2009-03-24 2009-09-02 中国人民解放军海军航空工程学院 Intelligent exoskeleton carrying system for lower limb and control method thereof
CN201422989Y (en) * 2009-06-29 2010-03-17 浙江大学 Exoskeleton with three degree of freedom for auxiliary ankle joint exercises
CN102793595A (en) * 2012-09-03 2012-11-28 浙江大学 Wearable heavy material handling power-assisting bionic exoskeleton
CN102940542A (en) * 2012-10-23 2013-02-27 华中科技大学 Artificial limb ankle joint with four passive degrees of freedom
CN203183091U (en) * 2013-04-12 2013-09-11 西南交通大学 Assistance type ankle joint coupling device for external skeleton

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
刘放 等: "基于缓冲结构设计的携行式外骨骼研究", 《机械设计与研究》, vol. 28, no. 5, 31 October 2012 (2012-10-31), pages 37 - 40 *

Also Published As

Publication number Publication date Type
CN103211670B (en) 2015-01-28 grant

Similar Documents

Publication Publication Date Title
Shelburne et al. Pattern of anterior cruciate ligament force in normal walking
Kibler et al. The role of core stability in athletic function
Dorn et al. Muscular strategy shift in human running: dependence of running speed on hip and ankle muscle performance
Bosco et al. Prestretch potentiation of human skeletal muscle during ballistic movement
Hobbelen et al. System overview of bipedal robots flame and tulip: Tailor-made for limit cycle walking
US2731645A (en) Ankle joint for artificial limbs
Tsagarakis et al. The design of the lower body of the compliant humanoid robot “cCub”
Pandy et al. Muscle coordination of mediolateral balance in normal walking
Miyoshi et al. Functional roles of lower-limb joint moments while walking in water
CN103610568A (en) Human-simulated external skeleton robot assisting lower limbs
Yoon et al. A novel reconfigurable ankle/foot rehabilitation robot
CN101786478A (en) Fictitious force-controlled lower limb exoskeleton robot with counter torque structure
Gregorczyk et al. Effects of a lower-body exoskeleton device on metabolic cost and gait biomechanics during load carriage
Cenciarini et al. Biomechanical considerations in the design of lower limb exoskeletons
Asano et al. The effect of semicircular feet on energy dissipation by heel-strike in dynamic biped locomotion
Ariel Biomechanical analysis of the knee joint during deep knee bends with heavy load
CN102285390A (en) An ambulation of the robot hybrid drive Leg elastic
CN101870310A (en) Gecko-like robot and mechanical structure thereof
Van Dijk et al. A passive exoskeleton with artificial tendons: Design and experimental evaluation
Liu et al. Development of a lower extremity exoskeleton for human performance enhancement
CN103735386A (en) Wearable lower limb exoskeleton rehabilitation robot
Schache et al. Hamstring muscle forces prior to and immediately following an acute sprinting-related muscle strain injury
CN101973037A (en) Passive robot joint with adjustable rigidity elasticity
RU2033772C1 (en) Rotation-damping unit of artificial lower extremities
Bencke et al. Biomechanical evaluation of the side-cutting manoeuvre associated with ACL injury in young female handball players

Legal Events

Date Code Title Description
C06 Publication
C10 Entry into substantive examination
C14 Grant of patent or utility model